Characteristics of a rectangular coordinate robot:

1、多自由度运动，每个运动自由度之间的空间夹角为直角。

1, multi degree of freedom movement, the angle between the space of each movement freedom is right angle.

2、自动控制的，可重复编程，所有的运动均按程序运行。

2, automatic control, can be repeated programming, all of the movement by the program run.

3、一般由控制系统、驱动系统、机械系统、操作工具等组成。

3, generally by the control system, drive system, mechanical systems, operating tools, and other components.

4、灵活，多功能，因操作工具的不同功能也不同。

4, flexible, multi function, due to the different functions of the operating tools are also different.

5、高可靠性、高速度、高精度。

5, high reliability, high speed, high precision.

6、可用于恶劣的环境，可长期工作，便于操作维修。

6, can be used in harsh environment, can work for a long time, easy to operate and repair.

二、直角坐标机器人的应用：

Two, right angle coordinate robot application:

因末端操作工具的不同，直角坐标机器人可以非常方便的用作各种自动化设备，完成如焊接、搬运、上下料、包装、码垛、拆垛、检测、探伤、分类、装配、贴标、喷码、打码、（软仿型）喷涂、目标跟随、排爆等一系列工作。特别适用于多品种，便批量的柔性化作业，对于稳定，提高产品质量，提高劳动生产率，改善劳动条件和产品的快速更新换代期着十分重要的作用。

Because at the end of the operation tool, Cartesian coordinate robot can be very convenient used as all kinds of automation equipment, such as welding, handling, loading and unloading, packing, palletizing, demolition duo, detecting, classifying, assembling, labeling, coding, coding, spraying (soft copy), to follow the target, EOD and so on a series of work. Especially in the multi varieties, will flexible operation of batch, to stabilize, improve product quality, improve labor productivity, improve working conditions and product update quickly updating period a very important role.

三、直角坐标机器人的分类：

Three, right angle coordinate robot classification:

1、按用途分：焊接机器人、码垛机器人、涂胶（点胶）机器人、检测（监测）机器人、分拣（分类）机器人、装配机器人、排爆机器人、医疗机器人、特种机器人等。

1, according to use: welding robot and palletizing robot, glue dispensing robot detection, (monitoring) robot, sorting robot (classification), assembly robot, explosive ordnance disposal robot, medical robots, special robot.

2、按结构形式分：壁挂（悬臂）机器人、龙门机器人、倒挂机器人等

2, in the form of the structure: wall (cantilever) robot, robot, robot upside down in Longmen

3、按自由度分：两坐标机器人、三坐标机器人、四坐标机器人、五坐标机器人、六坐标机器人。

3, according to the degrees of freedom is divided into: two coordinate robot, three coordinate robot, four coordinate robot, five coordinate robot, six coordinate robot.

四、直角坐标机器人核心元件——直线定位单元

Four, rectangular coordinate robot core components - linear positioning unit

为了降低直角坐标机器人的成本，缩短产品的研发周期，增加产品的可靠性、提高产品性能，在欧美的许多国家都已将直角坐标机器人模块化，而直线定位单元（系统）则是模块化的最典型的产品。

In order to reduce the cost of Cartesian coordinate robot, shorten the product development cycle, increase the product reliability, improve product performance, in many countries in Europe and the United States have the right angle coordinate robot modular, and linear positioning unit (system) is modular of the most typical products.

一个完整的定位单元（系统）由几部分组成

A complete positioning unit (system) is composed of several parts.

1、定位体型材：作为轨道的安装支撑部分，该型材不同于一般的框架型材，它要求非常高的直线度，平面度。

1, a positioning body material: as a rail installation support section, the section is different from the general frame section, it demands a very high straightness flatness.

2、运动轨道：安装在定位体型材上，直接支撑运动的滑块。一个定位体型材（系统）上，可能安装一根运动轨道，也可能安装多根运动轨道，轨道的特性及数量直接影响定位单元（系统）的力学特性。组成定位系统的轨道种类很，通用的有直线滚珠轨道，直线圆柱钢轨道。

2, sports track: installed in the positioning of the material, the direct support of the movement of the slider. A positioning body material (system), may install a root movement track and may also install a plurality of motion track, track characteristics and quantity directly affect the mechanical properties of the positioning unit (system). The track type of the positioning system is very, the universal linear ball rail, and the straight line and the circular cylinder steel track.

3、运动滑块：由负载安装板、轴承架、滚轮组（滚珠组）、除尘刷、润滑腔、密封盖组成。运动滑块与轨道通过滚轮或滚珠藕合在一起。实现运动的导向。

3, the movement of the slider: by the load installation board, a bearing frame, roller (ball) group, dust brush, lubricating cavity, a sealing cover, wherein. Movement of the slider and track together through a roller or ball coupling. To realize the orientation of movement.

4、传动元件：通用的传动元件有同步带、齿形带、丝杠/滚珠丝杠、齿条、直线电机等。

4, transmission components: transmission components are universal synchronous belt, toothed belt / screw, ball screw, linear motor rack, etc..

5、轴承及轴承座：用于安装传动元件及驱动元。

5, bearing and bearing seat: used to install the drive element and drive element.

五、直角坐标机器人驱动元件——电机驱动系统

Five, rectangular coordinate robot drive components - motor drive system

直线定位单元（系统）之所以能够实现精确的运动定位，是由电机驱动系统决定的。

Linear positioning unit (system) has been able to achieve precise positioning of the movement, is driven by a motor system decision.

常用的驱动系统有：

Commonly used drive system:

交流/支流伺服电机驱动系统、步进电机驱动系统、直线伺服电机/直线步进电机驱动系统。每一个驱动系统都由电机和驱动器两部分组成。驱动器的作用是将弱电信号放大，将其加载在驱动电机的强电上，驱动电机。电机则是将电信号转化成精确的速度及角位移。

AC servo motor drive system, a tributary of the stepper motor drive system, linear servo motor / linear stepper motor drive system. Each drive system is composed of two parts of motor and driver. The driver is the role of the weak signal amplification, it is loaded in the drive motor power, drive motor. Motor is the electrical signal into a precise speed and angular displacement.

在要求高动态，高速运行状态、大功率驱动等场合多用交流/支流伺服电机系统作为驱动；在要求低动态，低速运行状态、小功率驱动等场合可用步进电机系统作为驱动；而在在要求极高动态，高速运行状态、高定位精度等场合才会用到直线伺服系统驱动。

At the request of the high dynamic, high speed and high power drive occasion use AC / a tributary of the servo motor system as driving; in low dynamic, low speed, small power drive applications available stepper motor system for driving; and in high dynamic and high speed running state, high positioning precision of occasions will be used linear servo system drive.

六，直角坐标机器人的灵魂——控制器

Six, the right angle coordinate robot's soul - controller

为实现机器人的灵活多变的运动功能、迅速的反应处理功能，机器人必须要有一个大脑——控制器。

For the robot to achieve the flexible motion capabilities, rapid response processing function, the robot must have a brain controller.

控制器的功能是指令源，它可以根据编号的程序时时发出控制指令、时刻接受反馈信号、时刻判断处理信息。

Function of the controller is the source instruction, it can according to the number of procedures always send control commands and time to accept feedback signal, the time to judge and deal with information.

根据功能的不同，控制器可以有很多种：

According to the different functions, the controller can have many kinds of:

1、工控机与运动控制卡的组合：运动控制卡借用计算机的资源，利用自身的运动控制功能实现控制。

1, IPC and motion control card combination: motion control card use computer resources using its motion control functions to achieve control.

2、脱机运动控制卡：借用计算机编好程序，可将程序自我存储，脱机运行。

2, offline motion control card: the use of a computer program, the program can be self storage, offline operation.

3、PLC-借用计算机编好程序，可将程序自我存储，脱机运行。

3, PLC- to borrow a computer program, the program can be self storage, offline operation.

4、专用控制器。

4, dedicated controller.

七，直角坐标机器人的终端设备——操作工具

Seven, rectangular coordinate robot terminal equipment - operating tools

直角坐标机器人的终端设备应用途不同，可以装配各种各样的操作工具：

Cartesian coordinates of the robot terminal equipment should be different, you can assemble a variety of operating tools:

有些工作复杂的工作，单一操作工具不能完成，需要安装两个或以上操作工具才可以。如对于非固定轨迹运动物体的抓取除需要机械抓手外，还需要一个相机，时刻跟踪计算物体的空间位置。

The work of some complex work, single operation tools can not be completed, you need to install two or more operating tools can. Such as for the capture of non fixed object trajectories in addition to the need for mechanical grip, also need a camera, time tracking calculation of the spatial location of objects.